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119 lines
4.5 KiB
119 lines
4.5 KiB
#!/usr/bin/env python
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import os
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import argparse
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import threading
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from inputs import get_gamepad
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import cereal.messaging as messaging
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from openpilot.common.realtime import Ratekeeper
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from openpilot.common.numpy_fast import interp, clip
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from openpilot.common.params import Params
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from openpilot.tools.lib.kbhit import KBHit
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class Keyboard:
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def __init__(self):
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self.kb = KBHit()
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self.axis_increment = 0.05 # 5% of full actuation each key press
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self.axes_map = {'w': 'gb', 's': 'gb',
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'a': 'steer', 'd': 'steer'}
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self.axes_values = {'gb': 0., 'steer': 0.}
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self.axes_order = ['gb', 'steer']
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self.cancel = False
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def update(self):
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key = self.kb.getch().lower()
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self.cancel = False
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if key == 'r':
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self.axes_values = {ax: 0. for ax in self.axes_values}
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elif key == 'c':
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self.cancel = True
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elif key in self.axes_map:
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axis = self.axes_map[key]
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incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
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self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1)
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else:
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return False
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return True
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class Joystick:
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def __init__(self, gamepad=False):
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# TODO: find a way to get this from API, perhaps "inputs" doesn't support it
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if gamepad:
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self.cancel_button = 'BTN_NORTH' # (BTN_NORTH=X, ABS_RZ=Right Trigger)
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accel_axis = 'ABS_Y'
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steer_axis = 'ABS_RX'
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else:
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self.cancel_button = 'BTN_TRIGGER'
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accel_axis = 'ABS_Y'
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steer_axis = 'ABS_RZ'
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self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
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self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
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self.axes_values = {accel_axis: 0., steer_axis: 0.}
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self.axes_order = [accel_axis, steer_axis]
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self.cancel = False
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def update(self):
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joystick_event = get_gamepad()[0]
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event = (joystick_event.code, joystick_event.state)
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if event[0] == self.cancel_button:
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if event[1] == 1:
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self.cancel = True
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elif event[1] == 0: # state 0 is falling edge
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self.cancel = False
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elif event[0] in self.axes_values:
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self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
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self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
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norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
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self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0. # center can be noisy, deadzone of 5%
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else:
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return False
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return True
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def send_thread(joystick):
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joystick_sock = messaging.pub_sock('testJoystick')
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rk = Ratekeeper(100, print_delay_threshold=None)
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while 1:
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dat = messaging.new_message('testJoystick')
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dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_order]
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dat.testJoystick.buttons = [joystick.cancel]
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joystick_sock.send(dat.to_bytes())
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print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
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if "WEB" in os.environ:
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import requests
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requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]), timeout=None)
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rk.keep_time()
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def joystick_thread(joystick):
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Params().put_bool('JoystickDebugMode', True)
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threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
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while True:
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joystick.update()
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
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'openpilot must be offroad before starting joysticked.',
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
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parser.add_argument('--gamepad', action='store_true', help='Use gamepad configuration instead of joystick')
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args = parser.parse_args()
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if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ and "WEB" not in os.environ:
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print("The car must be off before running joystickd.")
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exit()
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print()
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if args.keyboard:
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print('Gas/brake control: `W` and `S` keys')
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print('Steering control: `A` and `D` keys')
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print('Buttons')
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print('- `R`: Resets axes')
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print('- `C`: Cancel cruise control')
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else:
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print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
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joystick = Keyboard() if args.keyboard else Joystick(args.gamepad)
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joystick_thread(joystick)
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